Screw-based feature constraint model and degeneracy analysis for robotic state estimation: Theory and experiments
The International Journal of Robotics Research
Published online on July 25, 2026
Abstract
The International Journal of Robotics Research, Ahead of Print.
Degeneracy caused by the repetition of geometric features remains a significant bottleneck in robotic state estimation systems like odometry and SLAM. To address this challenge, we propose a novel approach based on screw theory to model feature ...
Degeneracy caused by the repetition of geometric features remains a significant bottleneck in robotic state estimation systems like odometry and SLAM. To address this challenge, we propose a novel approach based on screw theory to model feature ...